1. The "closed-form" solution in the inverse kinematics means ( ) (a) each joint variable can be described by a mathematics expression (b) joint variable can not be solved numerically (c) each joint variable can not be described by a mathematics expression (d) each joint variable can be solved numerically

2. The Inverse Kinematics involves the Forward Kinematics a) True b) False

3. How many degrees of freedom do the following robots have? Assign 1 d.o.f. for the wrist joint.